• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Based on a train autonomous control method that operates an automatic control logic according to a daily diagram stored in an operation management system mounted on each car to control a train, stores the daily diagram in each car, and performs automatic control, update to an optimal daily diagram is automatically performed when a train delay or car failure occurs, cars share daily diagram change information with each other and thereby the cars can continue automatic control autonomously even when an emergency occurs, and also at a timing when an operation arrangement condition stored in the train operation management system mounted on each car is established, other cars are notified of a change of the daily diagram, and the automatic control is continued according to the daily diagram after being changed.
    公开号:EP3683085A1
    申请号:EP18857244.0
    申请日:2018-03-26
    公开日:2020-07-22
    发明作者:Yuta ABE
    申请人:Hitachi Ltd；
    IPC主号:B61L3-00
    专利说明:
    [0001] The present invention relates to a train control system that performs automatic control of a train according to an operating plan of the day. Background Art
    [0002] PTL 1 describes a train operation management apparatus that can automatically search a rail yard for an alternative car formation of a traveling car formation in which an abnormality has occurred, and can cause an alternative replacement car formation to depart.
    [0003] This PTL 1 describes "including car change determination means for inputting an abnormality that occurs in mounted equipment of a traveling car formation or a sign of the abnormality as abnormality detection information, and determining whether it is necessary to change a car of the traveling car formation from the abnormality detection information, and operation change updating means for creating, when it is necessary to change a car, a diagram that causes the traveling car formation to enter a rail yard and an alternative car formation for the traveling car formation to depart from the rail yard". Citation ListPatent Literature
    [0004] PTL 1: JP 9-66833 A Summary of InventionTechnical Problem
    [0005] The train operation management apparatus described in PTL 1 requires a train operation management apparatus that manages an operation of the train to be installed on the ground side in addition to an on-board apparatus, and there is a problem that introduction cost and maintenance and management cost thereof increase. An object of the present invention is to construct a train operation management system by an on-board apparatus without providing a costly train operation management apparatus on the ground side. Solution to Problem
    [0006] In order to solve the above-described problems, in a representative train control system according to the present invention including a diagram management apparatus that stores and transmits a diagram that is an operating plan of a train, and a train control apparatus that receives the diagram from the diagram management apparatus and controls the train, the train control apparatus is provided in the train as a control target. Advantageous Effects of Invention
    [0007] According to the present invention, a train operation management system can be constructed without providing a train operation management apparatus on the ground side. Brief Description of Drawings
    [0008] [FIG. 1] FIG. 1 is a system configuration diagram of a train operation management system as a ground apparatus.[FIG. 2] FIG. 2 is a flowchart illustrating an operation example of an on-board control unit 114 when a predetermined event occurs in a present embodiment.[FIG. 3] FIG. 3 is a flowchart illustrating an operation example of the on-board control unit 114 when a diagram has been received in the present embodiment.[FIG. 4] FIG. 4 is a flowchart illustrating an operation example of the on-board control unit 114 that updates train travel permission in the present embodiment.[FIG. 5] FIG. 5 is a flowchart illustrating an operation example of an on-board communication unit 112 in the present embodiment.[FIG. 6] FIG. 6 is a flowchart illustrating an operation example of a ground communication unit 102 in the present embodiment.[FIG. 7] FIG. 7 is a diagram illustrating an example of a diagram correction in the present embodiment.[FIG. 8] FIG. 8 is a diagram illustrating an example of a diagram correction in the present embodiment.[FIG. 9] FIG. 9 is a diagram illustrating an example of a configuration of tracks and switches at an A station and a B station.[FIG.10] FIG. 10 is an example of a diagram of trains passing each other at the A station. Description of Embodiments
    [0009] Embodiments will be described below with reference to the drawings. First Embodiment
    [0010] FIG. 1 is a diagram illustrating a configuration example of a train control system in the present embodiment.
    [0011] The train control system in the present embodiment includes a diagram management apparatus 100 and a train control apparatus 111 mounted on a train 110. The train 110 travels on a track 120. There is a branch on the track 120, and there is a switch 121 as a device for controlling the branch. In the figure, the train 110 is denoted with only one car, but the train 110 is not limited to this and may have many cars. Similarly, although only one branch and one switch 121 are illustrated on the track 120 in the figure, the present invention is not limited to this, and numerous branches and switches 121 may be provided in order to form numerous routes.
    [0012] The diagram management apparatus 100 manages a diagram that is a train operating plan. The diagram management apparatus 100 is constituted of a control target train diagram storage unit 101 and a ground communication unit 102.
    [0013] The control target train diagram storage unit 101 stores a diagram of the train as a control target and transmits a diagram according to a request from the ground communication unit 102. Further, the control target train diagram storage unit 101 receives the updated diagram from the ground communication unit 102, and updates and stores the stored diagram.
    [0014] Furthermore, the control target train diagram storage unit 101 stores an on-track range that is a range where the train may be present on a track, creates all-train on-track ranges that are on-track ranges of all trains as targets of control, and transmits the all-train on-track ranges according to a request from the ground communication unit 102.
    [0015] The ground communication unit 102 communicates with the train control apparatus 111, receives an updated diagram from the train control apparatus 111, and transmits the diagram to the control target train diagram storage unit 101. Further, the diagram is transmitted to the train control apparatuses 111 of all the trains 110 that as control targets.
    [0016] The ground communication unit 102 communicates with the train control apparatus 111 by radio, but may communicate with the train control apparatus 111 by wire, such as communicating via a track.
    [0017] Furthermore, the ground communication unit 102 communicates with the train control apparatus 111, receives an on-track range from the train control apparatus 111, and transmits the on-track range to the control target train diagram storage unit 101. In addition, the ground communication unit 102 requests the control target train diagram storage unit 101 for all-train on-track ranges, and receives the all-train on-track ranges. Thereafter, the received all-train on-track ranges are transmitted to the train control apparatuses 111 of all the trains 110 that are control targets.
    [0018] The train control apparatus 111 is constituted of an on-board communication unit 112, an on-board diagram storage unit 113, and an on-board control unit 114.
    [0019] According to a request from the on-board control unit 114, the on-board communication unit 112 receives a diagram from the on-board control unit 114, and transmits the diagram to the diagram management apparatus 100. Further, the on-board communication unit 112 receives a diagram from the diagram management apparatus 100, transmits the diagram to the on-board diagram storage unit 113, and causes the diagram to be transmitted to the on-board control unit 114.
    [0020] Furthermore, according to a request from the on-board control unit 114, the on-board communication unit 112 transmits an on-track range of the own train to the diagram management apparatus 100. Further, the on-board communication unit 112 receives the all-train on-track ranges from the diagram management apparatus 100, and transmits the all-train on-track ranges to the on-board diagram storage unit 113, and causes the all-train on-track ranges to be transmitted to the on-board control unit 114.
    [0021] In addition, according to an instruction from the on-board control unit 114, the on-board communication unit 112 communicates with the switch 121, and instructs to control a branch.
    [0022] The on-board diagram storage unit 113 receives and stores a diagram from the on-board communication unit 112, and transmits the diagram to the on-board control unit 114.
    [0023] Further, the on-board diagram storage unit 113 receives and stores all-train on-track ranges from the on-board communication unit 112, and transmits the all-train on-track ranges to the on-board control unit 114.
    [0024] The on-board control unit 114 receives a diagram from the on-board diagram storage unit 113 and controls the own train 110 according to the diagram. At that time, in order to configure a necessary route, the on-board communication unit 112 is instructed to control the switch 121. Further, the on-board control unit 114 corrects the diagram of the own train 110 when a predetermined event occurs, and transmits the corrected diagram to the diagram management apparatus 100 by the on-board communication unit 112.
    [0025] Furthermore, the on-board control unit 114 recognizes an on-track range of the own train 110, and causes the on-board communication unit 112 to transmit the on-track range of the own train 110 to the diagram management apparatus 100. Further, the on-board control unit 114 receives the all-train on-track ranges from the on-board diagram storage unit 112 and permits the own train 110 to travel within a range in which the on-track range of the own train 110 does not overlap with the on-track range of other trains 110.
    [0026] The switch 121 is a device that controls a branch on the route of the track 120, and receives an instruction from the on-board communication unit 112 to control the branch.
    [0027] Next, operation of the train control apparatus 111 in the present embodiment will be described.
    [0028] FIG. 2 is a flowchart illustrating an operation example of the on-board control unit 114 when a predetermined event occurs in the present embodiment.
    [0029] The on-board control unit 114 starts this process (S200) when the system is started.
    [0030] In S200, the on-board control unit 114 starts this process, and proceeds to S201.
    [0031] In S201, the on-board control unit 114 confirms whether a predetermined event has occurred. The on-board control unit 114 proceeds to S201 when a predetermined event has not occurred (No in S201). When the predetermined event has occurred (Yes in S201), the on-board control unit 114 proceeds to S202.
    [0032] Note that the predetermined event refers to an event that hinders operation of the train 110 as a control target of the train control apparatus 111. Examples of the event include a failure of the train 110, a trouble of a passenger, and the like, but the present invention is not limited thereto.
    [0033] In S202, the on-board control unit 114 corrects the diagram. Thereafter, the on-board control unit 114 proceeds to S203.
    [0034] The diagram is corrected as follows. FIG. 7 is a diagram illustrating an example of diagram correction. When a predetermined event occurs in the train 110 traveling from an A station to a B station, the on-board control unit 114 of the train 110 creates a diagram to reduce speed for safety and operate to the next B station, stop operation at the B station, and enter a section. This is taken as a corrected diagram.
    [0035] Further, the diagram may be corrected as follows. FIG. 8 is a diagram illustrating an example of diagram correction. When a predetermined event occurs in the train 110 traveling from an A station to a B station, the on-board control unit 114 of the train 110 creates a diagram to reduce speed for safety and operate to the next B station, stop operation at the B station, and enter a section. Thereafter, when there is a replaceable car at the B station, the on-board control unit 114 generates a diagram to replace a car (car replacement diagram), and takes this diagram as a corrected diagram.
    [0036] Whether or not there is a replaceable car at the B station can be recognized in the all-train on-track ranges which will be described later. Specifically, the all-train on-track ranges have been received in S507 of FIG. 5, and since the all-train on-track ranges include all-train on-track ranges of other cars, it is possible to confirm the presence of cars on a track at the B station. When the diagram management apparatus 100 generates the all-train on-track ranges, by receiving a state of each train (a state of carrying passengers on board, a state of being a deadhead train after passengers are disembarked and, a state that the train is stopped, a state that the train is stopped in a storage track, a state that the train is in a rail yard, or the like) from respective trains, and associating the states with the respective train on-track ranges, it is possible to recognize a train that does not affect operation (for example, a train in a state other than an operating state with passengers on board and in an operable state), and when such a train is present at the B station, generating a diagram as in FIG. 8 enables to perform an appropriate car replacement.
    [0037] In S203, the on-board control unit 114 transmits the corrected diagram to the diagram management apparatus 100 by the on-board communication unit 112. Thereafter, the on-board control unit 114 proceeds to S201.
    [0038] FIG. 3 is a flowchart illustrating an operation example of the on-board control unit 114 when a diagram has been received in the present embodiment.
    [0039] The on-board control unit 114 starts this process (S300) when the system is started.
    [0040] In S300, the on-board control unit 114 starts this process, and proceeds to S301.
    [0041] In S301, the on-board control unit 114 confirms whether a diagram has been received from the on-board diagram storage unit 113. When the diagram has been received (Yes in S301), the on-board control unit 114 proceeds to S302. When the diagram has not been received (No in S301), the on-board control unit 114 proceeds to S303.
    [0042] In S302, the on-board control unit 114 controls the own train 110 with the newly received diagram. Thereafter, the on-board control unit 114 proceeds to S301.
    [0043] In S303, the on-board control unit 114 controls the own train 110 with a previously received diagram. The on-board control unit 114 does not perform control when there is no previously received diagram. Thereafter, the on-board control unit 114 proceeds to S301.
    [0044] The own train 110 is controlled as follows. The on-board control unit 114 of the own train 110 configures a route to travel from the diagram. For example, when the train 110 operates according to the original diagram in FIG. 7, when the train 110 leaves the A station and arrives at the B station, the on-board control unit 114 of the train 110 needs to configure a route from the A station to the B station before departing from the A station.
    [0045] FIG. 9 is a diagram illustrating an example of a configuration of tracks and switches of the A station and the B station. The A station is located on a starting point side and the B station is located on an end point side. The route from the starting point side to the A station, from the A station to the B station, and from the B station to the end point side is a single line. The A station and the B station have two lines so that trains on outbound and inbound lines can pass each other. The direction from the starting point side to the end point side is an outbound line, and the direction from the end point side to the starting point side is an inbound line. As for platforms of each station, an upper track is the outbound platform and a lower track is the inbound platform. A switch when entering the A station from the starting point side is a switch 900, a switch when departing from the A station and heading toward the end point direction is a switch 901, a switch when entering the B station from the starting point direction is a switch 902, and a switch when heading toward a liquor shop from the B station is a switch 903.
    [0046] In each of the switch 900 to the switch 903, a state of being set to the direction to enter the station is a normal position, and a state of being set to the opposite direction thereof is a reverse position.
    [0047] At this time, the on-board control unit 114 extracts a time of departure from the station A from the diagram, and configures a route a predetermined time prior to that time. In order to configure this route, the on-board control unit 114 transmits instructions to set the switch 901 to the reverse position and set the switch 902 to the normal position to the respective switches, and when completion of setting is confirmed, the route configuration is completed.
    [0048] After the route configuration is completed, when it is time to depart from the A station, the on-board control unit 114 causes the own train 110 as a control target to depart from the A station and arrive at the B station. The same applies when heading from the B station to the C station. Similar control is performed for the train heading from the end point direction to the starting point direction.
    [0049] If the route cannot be constructed due to another train, the process waits until the route can be constructed. FIG. 10 is an example of a diagram in which a preceding train 1000 and a subsequent train 1001 pass each other at the A station. Until the preceding train 1000 completes entry to the A station, a route from the B station to the A station is configured by the preceding train 1000, and the subsequent train 1001 cannot configure a route from the A station to the B station. After the preceding train 1000 completes entry to the A station, the route is released, and thus the subsequent train 1001 can configure the route from the A station to the B station.
    [0050] In this manner, when another train has constructed a route, the track and the switch used by this route cannot be used to construct a route. In order to construct a route, travel permission on that route is necessary. This travel permission will be described later in S400 to S404.
    [0051] FIG. 4 is a flowchart illustrating an operation example of the on-board control unit 114 that updates train travel permission in the present embodiment.
    [0052] The on-board control unit 114 starts this process (S400) when the system is started.
    [0053] In S400, the on-board control unit 114 starts this process, and proceeds to S401.
    [0054] In S401, the on-board control unit 114 recognizes an on-track range of the own train 110. Thereafter, the on-board control unit 114 proceeds to S402.
    [0055] Recognition of the on-track range is performed as follows. Although not illustrated, the train 110 has an apparatus that obtains the current position (for example, a global positioning system (GPS) or an apparatus that has ground devices installed on tracks to transmit information related to position information, receives the information related to position information when a train passes a ground device and recognizes the current position, integrates the speed of the train measured by a speed generator or the like to determine the travel distance after the ground device is passed, and obtains a relative position from the passed ground device, or the like). As performed in S302 and S303, when departing from the station, the on-board control unit 114 configures a route to the next arriving station, and set any track and switch to be traveled upon within the configured route to the on-track range. However, any track or switch of a route that the train has traveled and passed through are excluded from the on-track range. That is, as the train travels, the numbers of tracks and switches included in this on-track range decrease.
    [0056] In S402, the on-board control unit 114 causes the on-board communication unit 112 to transmit the on-track range of the own train 110 to the diagram management apparatus 100. Thereafter, the on-board control unit 114 proceeds to S403.
    [0057] In S403, the on-board control unit 114 confirms whether the all-train on-track ranges have been received. When the all-train on-track ranges have been received (Yes in S403), the on-board control unit 114 proceeds to S404. When the all-train on-track ranges have not been received (No in S403), the on-board control unit 114 proceeds to S401.
    [0058] In S404, the on-board control unit 114 updates a range permitted to travel for the own train 110. Thereafter, the on-board control unit 114 proceeds to S401.
    [0059] The update of the range permitted to travel is performed as follows.
    [0060] From the all-train on-track ranges, the on-board control unit 114 extracts a track and a switch that are not included in the on-track ranges of other trains and are included in a route that the own train 110 intends to secure, and set the track and switch to the range permitted to travel.
    [0061] In the example of FIG. 10, until entry to the station A is completed, since the preceding train 1000 includes the switch 901 in the route, the switch 901 is included in the on-track range thereof. Thus, until the preceding train 1000 completes entry to the station A, the on-board control unit 114 of the subsequent train 1001 cannot update the range permitted to travel for departing from the A station, and cannot configure a route from the A station to the B station.
    [0062] When the preceding train 1000 completes entry to the A station, the switch 901 is removed from the on-track range thereof, and thus the on-board control unit 114 of the subsequent train 1001 can update the range permitted to travel for departing from the A station, can set an outbound line of the A station, the switch 901, the switch 902, and an outbound line of the B station as this range, and can also set the on-track range and the route.
    [0063] FIG. 5 is a flowchart illustrating an operation example of the on-board communication unit 112 in the present embodiment.
    [0064] The on-board communication unit 112 starts this process (S500) when the present system is activated.
    [0065] In S500, the on-board communication unit 112 starts this process, and proceeds to S501.
    [0066] In step S501, the on-board communication unit 112 confirms whether a diagram transmission request has been received from the on-board control unit 114. When the diagram transmission request has been received from the on-board control unit 114 (Yes in S501), the on-board communication unit 112 proceeds to S502. When the diagram transmission request has not been received from the on-board control unit 114 (No in S501), the on-board communication unit 112 proceeds to S503.
    [0067] In S502, the on-board communication unit 112 transmits the diagram received from the on-board control unit 114 to the diagram management apparatus 100. Thereafter, the on-board communication unit 112 proceeds to S503.
    [0068] In S503, the on-board communication unit 112 confirms whether a diagram has been received from diagram management apparatus 100. When the diagram has been received from the diagram management apparatus 100 (Yes in S503), the on-board communication unit 112 proceeds to S504. When the diagram has not been received from the diagram management apparatus 100 (No in S503), the on-board communication unit 112 proceeds to S505.
    [0069] In S504, the on-board communication unit 112 transmits the diagram received from the diagram management apparatus 100 to the on-board diagram storage unit 113, and causes the diagram to be transmitted to the on-board control unit 114. Thereafter, the on-board communication unit 112 proceeds to S505.
    [0070] In S505, the on-board communication unit 112 confirms whether a transmission request for the on-track range of the own train has been received from the on-board control unit 114. When the transmission request for the on-track range of the own train has been received from the on-board control unit 114 (Yes in S505), the on-board communication unit 112 proceeds to S506. When the transmission request for the on-track range of the own train has not been received from the on-board control unit 114 (No in S505), the on-board communication unit 112 proceeds to S507.
    [0071] In S506, the on-board communication unit 112 transmits the on-track range of the own train to the diagram management apparatus 100. Thereafter, the on-board communication unit 112 proceeds to S507.
    [0072] In S507, the on-board communication unit 112 confirms whether the all-train on-track ranges have been received from the diagram management apparatus 100. When the all-train on-track ranges have been received from the diagram management apparatus 100 (Yes in S507), the on-board communication unit 112 proceeds to S508. When the all-train on-track ranges have not been received from the diagram management apparatus 100 (No in S507), the on-board communication unit 112 proceeds to S501.
    [0073] In S508, the on-board communication unit 112 transmits the all-train on-track ranges to the on-board diagram storage unit 113, and causes the all-train on-track ranges to be transmitted to the on-board control unit 114. Thereafter, the on-board communication unit 112 proceeds to S501.
    [0074] Next, operation of the ground communication unit 102 of the diagram management apparatus 100 in the present embodiment will be mainly described.
    [0075] FIG. 6 is a flowchart illustrating an operation example of the ground communication unit 102 in the present embodiment.
    [0076] The ground communication unit 102 starts this process (S600) when the system is activated.
    [0077] In S600, the ground communication unit 102 starts this process, and proceeds to S601.
    [0078] In S601, the ground communication unit 102 confirms whether an updated diagram has been received from train control apparatus 111. When the updated diagram has been received from the train control apparatus 111 (Yes in S601), the ground communication unit 102 proceeds to S602. When the updated diagram has not been received from the train control apparatus 111 (No in S601), the ground communication unit 102 proceeds to S604.
    [0079] In S602, the ground communication unit 102 transmits the received updated diagram to the control target train diagram storage unit 101. Thereafter, the ground communication unit 102 proceeds to S603.
    [0080] In S603, the ground communication unit 102 transmits the received updated diagram to the train control apparatuses 111 of all the trains 110 that are control targets. Thereafter, the ground communication unit 102 proceeds to S604.
    [0081] In S604, the ground communication unit 102 confirms whether an on-track range has been received from train control apparatus 111. When the on-track range has been received from the train control apparatus 111, the ground communication unit 102 proceeds to S605 (Yes in S604). When the on-track range has not been received from the train control apparatus 111, the ground communication unit 102 proceeds to S601 (No in S604).
    [0082] In S605, the ground communication unit 102 transmits the on-track range to the control target train diagram storage unit 101. Thereafter, the ground communication unit 102 proceeds to S606.
    [0083] In S606, the ground communication unit 102 requests the control target train diagram storage unit 101 to transmit the all-train on-track ranges, and receives the all-train on-track ranges. Thereafter, the ground communication unit 102 proceeds to S607.
    [0084] In S607, the ground communication unit 102 transmits the all-train on-track ranges to the train control apparatuses 111 of all the trains 110 that are control targets. Thereafter, the ground communication unit 102 proceeds to S601.
    [0085] According to the present embodiment, the train operation management system can be constructed without providing a train operation management apparatus on the ground side. Reference Signs List
    [0086] 100diagram management apparatus101control target train diagram storage unit102ground communication unit110train111train control apparatus112on-board communication unit113on-board diagram storage unit114on-board control unit120track121switch900switch901switch902switch903switch1000preceding train1001subsequent train
    权利要求:
    Claims (3)
    [0001] A train control system comprising:
    a diagram management apparatus that stores and transmits a diagram that is an operating plan of a train; and
    a train control apparatus that receives the diagram from the diagram management apparatus and controls the train, wherein
    the train control apparatus is provided in the train as a control target.
    [0002] The train control system according to claim 1, whereinthe diagram management apparatus includes a control target train diagram storage unit that stores the diagram of the train, and a ground communication unit that communicates with the train control apparatus,the train control apparatus includes an on-board communication unit that communicates with the diagram management apparatus, an on-board diagram storage unit that stores the diagram, and an on-board control unit that obtains the diagram from the on-board diagram storage unit and controls an own train according to the diagram of the own train that is the train as a control target,the on-board control unit corrects the diagram of the own train when a predetermined event occurs, and causes the on-board communication unit to transmit a corrected diagram that is the diagram after correction to the ground communication unit,when the ground communication unit receives the corrected diagram from the on-board communication unit, the ground communication unit transmits the corrected diagram to the control target train diagram storage unit, and transmits the corrected diagram to the on-board communication units of all the trains that are targets of control,the control target train diagram storage unit stores the corrected diagram when the control target train diagram storage unit receives the corrected diagram,the on-board communication unit transmits the corrected diagram to the on-board diagram storage unit when the on-board communication unit receives the corrected diagram from the ground communication unit,the on-board diagram storage unit stores the corrected diagram when the on-board diagram storage unit receives the corrected diagram, and transmits the corrected diagram to the on-board control unit, andthe on-board control unit controls the own train according to the corrected diagram when the on-board control unit receives the corrected diagram.
    [0003] The train control system according to claim 2, whereinthe on-board control unit recognizes an on-track range that is a range where there is a possibility that the own train is on a track, and causes the on-board communication unit to transmit the on-track range of the own train to the ground communication unit,the ground communication unit transmits the on-track range to the control target train diagram storage unit when the ground communication unit receives the on-track range from the on-board communication unit, receives all-train on-track ranges that are the on-track ranges of all the trains that are targets of control from the control target train diagram storage unit, and transmits the all-train on-track ranges to the on-board communication unit of all the trains that are targets of control,the control target train diagram storage unit receives and stores the on-track range, generates the all-train on-track ranges, and transmits the all-train on-track ranges to the ground communication units of all the trains that are targets of control in response to a request of the ground communication unit,the on-board communication unit receives the all-train on-track ranges and transmits the all-train on-track ranges to the on-board diagram storage unit,the on-board diagram storage unit receives and stores the all-train on-track ranges, andthe on-board control unit receives the all-train on-track ranges from the on-board diagram storage unit, and permits traveling of the train in a range that the on-track range of the own train does not overlap with the on-track range of the other trains, or does not come close by a specified value.
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    同族专利:
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
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